269 citations · 569 across the 8 of their papers we have counts for
9 papers
On the Use of Torque Measurement in Centroidal State Estimation
Shahram Khorshidi, Ahmad Gazar, Nicholas Rotella +4
State of the art legged robots are either capable of measuring torque at the output of their drive systems, or have transparent drive systems which enable the computation of joint…
An MPC Walking Framework With External Contact Forces
Sean Mason, Nicholas Rotella, Stefan Schaal +1
In this work, we present an extension to a linear Model Predictive Control (MPC) scheme that plans external contact forces for the robot when given multiple contact locations and t…
Unsupervised Contact Learning for Humanoid Estimation and Control
Nicholas Rotella, Stefan Schaal, Ludovic Righetti
This work presents a method for contact state estimation using fuzzy clustering to learn contact probability for full, six-dimensional humanoid contacts. The data required for trai…
Balancing and Walking Using Full Dynamics LQR Control With Contact Constraints
Sean Mason, Nicholas Rotella, Stefan Schaal +1
Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algori…
Inertial Sensor-Based Humanoid Joint State Estimation
Nicholas Rotella, Sean Mason, Stefan Schaal +1
This work presents methods for the determination of a humanoid robot's joint velocities and accelerations directly from link-mounted Inertial Measurement Units (IMUs) each containi…
Humanoid Momentum Estimation Using Sensed Contact Wrenches
Nicholas Rotella, Alexander Herzog, Stefan Schaal +1
This work presents approaches for the estimation of quantities important for the control of the momentum of a humanoid robot. In contrast to previous approaches which use simplifie…
Trajectory generation for multi-contact momentum-control
Alexander Herzog, Nicholas Rotella, Stefan Schaal +1
Simplified models of the dynamics such as the linear inverted pendulum model (LIPM) have proven to perform well for biped walking on flat ground. However, for more complex tasks th…
Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid
Alexander Herzog, Nicholas Rotella, Sean Mason +3
Hierarchical inverse dynamics based on cascades of quadratic programs have been proposed for the control of legged robots. They have important benefits but to the best of our knowl…
State Estimation for a Humanoid Robot
Nicholas Rotella, Michael Bloesch, Ludovic Righetti +1
This paper introduces a framework for state estimation on a humanoid robot platform using only common proprioceptive sensors and knowledge of leg kinematics. The presented approach…